This page contains some miscellaneous notes about wiring on the KR01 robot.
I2C Bus#
► i2cdetect -y 1
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- 14 15 -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- 28 -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- 68 -- -- -- -- -- -- --
70: -- -- -- -- 74 75 -- 77
GPIO Pin Usage#
Generally, port wires are orange or red, starboard are green (like on a boat).
| PIN | PIN |
|---|---|
| 3V3 | +5V |
| 02: SDA (I2C) | +5V |
| 03: SCL (I2C) | GND |
| 17: GCLK | 14: TXD0 |
| GND | 15: RXD0 |
| 17: STATUS LED | PCM_CLK |
| 27 | GND |
| 22 | 23 |
| 3V3 | 24: GPIO 24† |
| 10: MOSI† | GND |
| 9: MISO† | 25: GPIO 25† |
| 11: SCLK† | 8: CE0† |
| GND | 7: CE1† |
| ID_SD | ID_SC |
| 5: STARBOARD INFRARED | GND |
| 6: CENTER INFRARED | 12: PORT INFRARED |
| 13: PORT BUMPER | GND |
| 19: CENTER BUMPER | 16 |
| 26: STARBOARD BUMPER | 20 |
| GND | 21 |
† Used by Adafruit 320x240 TFT Display
Requires pins for: , ENCODER A2, ENCODER B2
GPIO pin 20 is reserved for something, I can't remember.
► pinout ,--------------------------------. | oooooooooooooooooooo J8 +==== | 1ooooooooooooooooooo | USB | +==== | Pi Model 3B V1.2 | | +----+ +==== | |D| |SoC | | USB | |S| | | +==== | |I| +----+ | | |C| +====== | |S| | Net | pwr |HDMI| |I||A| +====== `-| |--------| |----|V|-------' Revision : a02082 SoC : BCM2837 RAM : 1024Mb Storage : MicroSD USB ports : 4 (excluding power) Ethernet ports : 1 Wi-fi : True Bluetooth : True Camera ports (CSI) : 1 Display ports (DSI): 1 J8: 3V3 (1) (2) 5V GPIO2 (3) (4) 5V GPIO3 (5) (6) GND GPIO4 (7) (8) GPIO14 GND (9) (10) GPIO15 GPIO17 (11) (12) GPIO18 GPIO27 (13) (14) GND GPIO22 (15) (16) GPIO23 3V3 (17) (18) GPIO24 GPIO10 (19) (20) GND GPIO9 (21) (22) GPIO25 GPIO11 (23) (24) GPIO8 GND (25) (26) GPIO7 GPIO0 (27) (28) GPIO1 GPIO5 (29) (30) GND GPIO6 (31) (32) GPIO12 GPIO13 (33) (34) GND GPIO19 (35) (36) GPIO16 GPIO26 (37) (38) GPIO20 GND (39) (40) GPIO21 For further information, please refer to https://pinout.xyz/
Port-Front Board (with BNO05 DoF and ItsyBitsy M4 Express)#
5 pin header:
| +5V | SCL | SDA | NA | GND |
Port-Back Board (connections to below)#
| B1 (black wire) | A1 (brown wire) |
| +5V | GND |
| B2 | A2 |
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